Search results for: Optimal Control Theory

Authors: Mario Gianni, Manuel A. Ruiz Garcia, Fiora Pirri

Abstract:

In this work, we present a Bayesian non-parametric approach to model the motion control of ATVs. The motion control model is based on a Dirichlet Process-Gaussian Process (DP-GP) mixture model. The DP-GP mixture model provides a flexible representation of patterns of control manoeuvres along trajectories of different lengths and discretizations. The model also estimates the number of patterns, sufficient for modeling the dynamics of the ATV.

Keywords: Dirichlet processes, Gaussian processes, robot control learning, tracked vehicles.

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Authors: J. H. Park, S. C. Jeong, J. H. Koo, H. Y. Jung, S. M. Lee

Abstract:

We propose an integral tracking control method for a piezoelectric actuator system. The proposed method achieves the output tracking without requiring any hysteresis observer or schemes to compensate the hysteresis effect. With the proposed control law, the system is converted into the standard singularly perturbed model. Using Tikhonov-s theorem, we guarantee that the tracking error can be reduced to arbitrarily small bound. A numerical example is given to illustrate the effectiveness of our proposed method.

Keywords: Piezoelectric actuator, tracking control, hysteresis effect.

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Authors: M. Kusá, M. Matúšová, A. Javorová, K. Velí

Abstract:

This paper deals about four items assembly process of linear drive. This assembly will be realized in flexible assembly cell on Institute of Manufacturing Systems and Applied Mechanics. There is defined manufacturing cell, individual actuators created our flexible cell. Next chapter is about control type, detailed describe a sequence control type, which will be used in mentioned flexible assembly cell. All cell control is divided in individual steps instructions. There instructions illustrate table number III.

Keywords: assembly, flexible cell, sequence control

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Authors: F. Raja, M. Rahgozar, F. Oroumchian

Abstract:

XML is a markup language which is becoming the standard format for information representation and data exchange. A major purpose of XML is the explicit representation of the logical structure of a document. Much research has been performed to exploit logical structure of documents in information retrieval in order to precisely extract user information need from large collections of XML documents. In this paper, we describe an XML information retrieval weighting scheme that tries to find the most relevant elements in XML documents in response to a user query. We present this weighting model for information retrieval systems that utilize plausible inferences to infer the relevance of elements in XML documents. We also add to this model the Dempster-Shafer theory of evidence to express the uncertainty in plausible inferences and Dempster-Shafer rule of combination to combine evidences derived from different inferences.

Keywords: Dempster-Shafer theory, plausible inferences, XMLinformation retrieval.

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Authors: G. Khamooshian

Abstract:

One of the main points of application of the mechanisms of the series and parallel is the subject of managing them. The control of this mechanism and similar mechanisms is one that has always been the intention of the scholars. On the other hand, modeling the behavior of the system is difficult due to the large number of its parameters, and it leads to complex equations that are difficult to solve and eventually difficult to control. In this paper, a six-linkage robot has been presented that could be used in different areas such as medical robots. Using these robots needs a robust control. In this paper, the system equations are first found, and then the system conversion function is written. A new controller has been designed for this robot which could be used in other parallel robots and could be very useful. Parallel robots are so important in robotics because of their stability, so methods for control of them are important and the robust controller, especially in parallel robots, makes a sense.

Keywords: 3-RRS, 6 linkage, parallel robot, control.

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Authors: Promise A. Azor, Avievie Igodo, Esabai M. Ase

Abstract:

The paper merged the return of premium clause and voluntary contributions to investigate retirees’ investment plan in a defined contributory (DC) pension scheme with a portfolio comprising of a risk-free asset and a risky asset whose price process is described by geometric Brownian motion (GBM). The paper considers additional voluntary contributions paid by members, charge on balance by pension fund administrators and the mortality risk of members of the scheme during the accumulation period by introducing return of premium clause. To achieve this, the Weilbull mortality force function is used to establish the mortality rate of members during accumulation phase. Furthermore, an optimization problem from the Hamilton Jacobi Bellman (HJB) equation is obtained using dynamic programming approach. Also, the Legendre transformation method is used to transform the HJB equation which is a nonlinear partial differential equation to a linear partial differential equation and solves the resultant equation for the value function and the optimal distribution plan under logarithm utility function. Finally, numerical simulations of the impact of some important parameters on the optimal distribution plan were obtained and it was observed that the optimal distribution plan is inversely proportional to the initial fund size, predetermined interest rate, additional voluntary contributions, charge on balance and instantaneous volatility.

Keywords: Legendre transform, logarithm utility, optimal distribution plan, return clause of premium, charge on balance, Weibull mortality function.

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Authors: Shun Horikoshi, Tohru Kawabe

Abstract:

This study presents performance analysis results of SMC (Sliding mode control) with changing the chattering functions applied to slip suppression problem of electric vehicles (EVs). In SMC, chattering phenomenon always occurs through high frequency switching of the control inputs. It is undesirable phenomenon and degrade the control performance, since it causes the oscillations of the control inputs. Several studies have been conducted on this problem by introducing some general saturation function. However, study about whether saturation function was really best and the performance analysis when using the other functions, weren’t being done so much. Therefore, in this paper, several candidate functions for SMC are selected and control performance of candidate functions is analyzed. In the analysis, evaluation function based on the trade-off between slip suppression performance and chattering reduction performance is proposed. The analyses are conducted in several numerical simulations of slip suppression problem of EVs. Then, we can see that there is no difference of employed candidate functions in chattering reduction performance. On the other hand, in slip suppression performance, the saturation function is excellent overall. So, we conclude the saturation function is most suitable for slip suppression sliding mode control.

Keywords: Sliding mode control, chattering function, electric vehicle, slip suppression, performance analysis.

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Authors: H. Ghanbari, H. Nikbakht, A. Zahedi, M. Ghanbari

Abstract:

This paper is focusing on designing a control system for wind turbine which can control the speed and output power according to arbitrary algorithm. Reference Tracking Method is used to control the turbine spinning speed in order to increase its output energy.

Keywords: Wind Turbine, Simulink, Reference Tracking Method.

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Authors: E. V. Larkin, T. A. Akimenko, A. V. Bogomolov, A. N. Privalov

Abstract:

The digital control system of mobile robots (MR) control is considered. It is shown that sequential interpretation of control algorithm operators, unfolding in physical time, suggests the occurrence of time delays between inputting data from sensors and outputting data to actuators. Another destabilizing control factor is presence of backlash in the joints of an actuator with an executive unit. Complex model of control system, which takes into account the dynamics of the MR, the dynamics of the digital controller and backlash in actuators, is worked out. The digital controller model is divided into two parts: the first part describes the control law embedded in the controller in the form of a control program that realizes a polling procedure when organizing transactions to sensors and actuators. The second part of the model describes the time delays that occur in the Von Neumann-type controller when processing data. To estimate time intervals, the algorithm is represented in the form of an ergodic semi-Markov process. For an ergodic semi-Markov process of common form, a method is proposed for estimation a wandering time from one arbitrary state to another arbitrary state. Example shows how the backlash and time delays affect the quality characteristics of the MR control system functioning.

Keywords: Mobile robot, backlash, control algorithm, Von Neumann controller, semi-Markov process, time delay.

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Authors: Maria E. Eggink

Abstract:

It is the aim of this paper to place the role of innovation in economic development in its theoretical context through a literature review. The review compares classical economic theory and the neoclassical theories of “equilibrium in the markets” and “perfectly competitive markets” with the Schumpeterian theory. It was found that Schumpeter’s role in contributing towards economic development theories, and by creating awareness of the role of innovation in these theories is of immeasurable importance. His contribution led to a change in economic thinking, although this was only realized much later than when his theories were first published. The neo-Schumpeterian thinking expanded on the Schumpeterian theory by studying innovation within a system of interaction among different role players. Studies on innovation should be founded in the neo-Schumpeterian school of thought in order to accommodate the complexity of the innovation system concept.

Keywords: Economic development, evolutionary economics, innovation, Schumpeter.

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Authors: Naiqin Feng, Fang Wang, Yuhui Qiu

Abstract:

A new approach to promote the generalization ability of neural networks is presented. It is based on the point of view of fuzzy theory. This approach is implemented through shrinking or magnifying the input vector, thereby reducing the difference between training set and testing set. It is called “shrinking-magnifying approach" (SMA). At the same time, a new algorithm; α-algorithm is presented to find out the appropriate shrinking-magnifying-factor (SMF) α and obtain better generalization ability of neural networks. Quite a few simulation experiments serve to study the effect of SMA and α-algorithm. The experiment results are discussed in detail, and the function principle of SMA is analyzed in theory. The results of experiments and analyses show that the new approach is not only simpler and easier, but also is very effective to many neural networks and many classification problems. In our experiments, the proportions promoting the generalization ability of neural networks have even reached 90%.

Keywords: Fuzzy theory, generalization, misclassification rate, neural network.

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Authors: A. R. Nemati, M. Haddad Zarif, M. M. Fateh

Abstract:

This paper presents an adaptive feedback linearization approach to derive helicopter. Ideal feedback linearization is defined for the cases when the system model is known. Adaptive feedback linearization is employed to get asymptotically exact cancellation for the inherent uncertainty in the knowledge of the given parameters of system. The control algorithm is implemented using the feedback linearization technique and adaptive method. The controller parameters are unknown where an adaptive control law aims to drive them towards their ideal values for providing perfect model matching between the reference model and the closed-loop plant model. The converged parameters of controller would then provide good estimates for the unknown plant parameters.

Keywords: Adaptive control, helicopter, feedback linearization, nonlinear control.

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Authors: Maricar G. Misola, Bryan B. Navarro

Abstract:

Facility Layout Problem (FLP) is one of the essential problems of several types of manufacturing and service sector. It is an optimization problem on which the main objective is to obtain the efficient locations, arrangement and order of the facilities. In the literature, there are numerous facility layout problem research presented and have used meta-heuristic approaches to achieve optimal facility layout design. This paper presented genetic algorithm to solve facility layout problem; to minimize total cost function. The performance of the proposed approach was verified and compared using problems in the literature.

Keywords: Facility Layout Problem, Genetic Algorithm, Material Handling Cost, Meta-heuristic Approach.

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Authors: Saran Satsangi, Ashish Saini, Amit Saraswat

Abstract:

In this paper, a new K-means clustering based approach for identification of voltage control areas is developed. Voltage control areas are important for efficient reactive power management in power systems operating under deregulated environment. Although, voltage control areas are formed using conventional hierarchical clustering based method, but the present paper investigate the capability of K-means clustering for the purpose of forming voltage control areas. The proposed method is tested and compared for IEEE 14 bus and IEEE 30 bus systems. The results show that this K-means based method is competing with conventional hierarchical approach

Keywords: Voltage control areas, reactive power management, K-means clustering algorithm

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Authors: Miloud Frikel , Boubekeur Targui, Francois Hamon, Mohammed M'SAAD

Abstract:

In this paper we propose an enhanced equalization technique for multi-carrier code division multiple access (MC-CDMA). This method is based on the control of Equal Gain Combining (EGC) technique. Indeed, we introduce a new level changer to the EGC equalizer in order to adapt the equalization parameters to the channel coefficients. The optimal equalization level is, first, determined by channel training. The new approach reduces drastically the mutliuser interferences caused by interferes, without increasing the noise power. To compare the performances of the proposed equalizer, the theoretical analysis and numerical performances are given.

Keywords: MC-CDMA, Equalization, EGC, Single User Detection.

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Authors: S. Hamid Mirmohammadi, Shahrazad Tamjidzad

Abstract:

This paper is concerned with the single-item continuous review inventory system in which demand is stochastic and discrete. The budget consumed for purchasing the ordered items is not restricted but it incurs extra cost when exceeding specific value. The unit purchasing price depends on the quantity ordered under the all-units discounts cost structure. In many actual systems, the budget as a resource which is occupied by the purchased items is limited and the system is able to confront the resource shortage by charging more costs. Thus, considering the resource shortage costs as a part of system costs, especially when the amount of resource occupied by the purchased item is influenced by quantity discounts, is well motivated by practical concerns. In this paper, an optimization problem is formulated for finding the optimal (r, Q) policy, when the system is influenced by the budget limitation and a discount pricing simultaneously. Properties of the cost function are investigated and then an algorithm based on a one-dimensional search procedure is proposed for finding an optimal (r, Q) policy which minimizes the expected system costs.

Keywords: (r, Q) policy, Stochastic demand, backorders, limited resource, quantity discounts.

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Authors: L. Benaaouinate, M. Khafallah, A. Martinez, A. Mesbahi, T. Bouragba

Abstract:

This paper concerns with the modeling, simulation, and emulation of a wind turbine emulator for standalone wind energy conversion systems. By using emulation system, we aim to reproduce the dynamic behavior of the wind turbine torque on the generator shaft: it provides the testing facilities to optimize generator control strategies in a controlled environment, without reliance on natural resources. The aerodynamic, mechanical, electrical models have been detailed as well as the control of pitch angle using Fuzzy Logic for horizontal axis wind turbines. The wind turbine emulator consists mainly of an induction motor with AC power drive with torque control. The control of the induction motor and the mathematical models of the wind turbine are designed with MATLAB/Simulink environment. The simulation results confirm the effectiveness of the induction motor control system and the functionality of the wind turbine emulator for providing all necessary parameters of the wind turbine system such as wind speed, output torque, power coefficient and tip speed ratio. The findings are of direct practical relevance.

Keywords: Wind turbine, modeling, emulator, electrical generator, renewable energy, induction motor drive, field oriented control, real time control, wind turbine emulator, pitch angle control.

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Authors: Omid Heydarnia, Akbar Allahverdizadeh, Behnam Dadashzadeh, M. R. Sayyed Noorani

Abstract:

Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control biped walking and running. In this paper, fuzzy partial feedback linearization is presented to overcome its drawback. Numerical simulations verify the effectiveness of the proposed method to generate stable and robust biped walking and running gaits.

Keywords: Underactuated system, biped robot, fuzzy control, partial feedback linearization.

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Authors: Miloš Šeda, Pavel Ošmera, Jindřich Petrucha

Abstract:

In the queueing theory, it is assumed that customer arrivals correspond to a Poisson process and service time has the exponential distribution. Using these assumptions, the behaviour of the queueing system can be described by means of Markov chains and it is possible to derive the characteristics of the system. In the paper, these theoretical approaches are presented on several types of systems and it is also shown how to compute the characteristics in a situation when these assumptions are not satisfied

Keywords: Queueing theory, Poisson process, Markov chains.

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Authors: Kittaya Somsai, Thanatchai Kulworawanichpong, Nitus Voraphonpiput

Abstract:

This paper presents the DC voltage control design of D-STATCOM when the D-STATCOM is used for load voltage regulation. Although, the DC voltage can be controlled by active current of the D-STATCOM, reactive current still affects the DC voltage. To eliminate this effect, the control strategy with elimination effect of the reactive current is proposed and the results of the control with and without the elimination the effect of the reactive current are compared. For obtaining the proportional and integral gains of the PI controllers, the symmetrical optimum and genetic algorithms methods are applied. The stability margin of these methods are obtained and discussed in detail. In addition, the performance of the DC voltage control based on symmetrical optimum and genetic algorithms methods are compared. Effectiveness of the controllers designed was verified through computer simulation performed by using Power System Tool Block (PSB) in SIMULINK/MATLAB. The simulation results demonstrated that the DC voltage control proposed is effective in regulating DC voltage when the DSTATCOM is used for load voltage regulation.

Keywords: D-STATCOM, DC voltage control, Symmetrical optimum, Genetic algorithms

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Authors: H. Elbehiery, A. Hefnawy, M. Elewa

Abstract:

Quality control in ceramic tile manufacturing is hard, labor intensive and it is performed in a harsh industrial environment with noise, extreme temperature and humidity. It can be divided into color analysis, dimension verification, and surface defect detection, which is the main purpose of our work. Defects detection is still based on the judgment of human operators while most of the other manufacturing activities are automated so, our work is a quality control enhancement by integrating a visual control stage using image processing and morphological operation techniques before the packing operation to improve the homogeneity of batches received by final users.

Keywords: Quality control, Defects detection, Visual control, Image processing, Morphological operation

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Authors: Afaq Ahmad

Abstract:

Using state space technique and GF(2) theory, a simulation model for external exclusive NOR type LFSR structures is developed. Through this tool a systematic procedure is devised for computing pseudo-random binary sequences from such structures.

Keywords: LFSR, external exclusive NOR type, recursivebinary sequence, initial state - next state, state transition matrix.

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Authors: Mustafa Resa Becan

Abstract:

The performance of a type of fuzzy sliding mode control is researched by considering the nonlinear characteristic of a missile-target interception problem to obtain a robust interception process. The variable boundary layer by using fuzzy logic is proposed to reduce the chattering around the switching surface then is applied to the interception model which was derived. The performances of the sliding mode control with constant and fuzzy boundary layer are compared at the end of the study and the results are evaluated.

Keywords: Sliding mode control, fuzzy, boundary layer, interception problem.

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Authors: H. M. El-Zomor, M. Hany

Abstract:

Recycling of aluminum beverage cans is an important issue due to its economic and environmental effect. One of the significant factors in aluminum cans recycling process is the transportation cost from the landfill space. An automatic compression baler (ACB) machine has been designed and built to densify the aluminum beverage cans. It has been constructed using numerous fabricated components. Two types of control methodology have been introduced in this ACB machine to achieve its goal. The first is a semi-automatic system, and the second is a mechatronic system by using a Programmable Logic Control (PLC). The effect of single and double pre-compression for the beverage cans have been evaluated by using the PLC control. Comparisons have been performed between the two types of control methodologies by operating this ACB machine in different working conditions. The double pre-compression in PLC control proves that there is an enhancement in the ACB performance by 133% greater than the direct compression in the semi-automatic control. In addition, the percentage of the reduction ratio in volume reaches 77%, and the compaction ratio reaches about four times of the initial volume.

Keywords: Aluminum can recycling, Fully automatic machine, Hydraulic system control, Multi-compression.

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Authors: Satean Tunyasrirut, Tianchai Suksri, Sompong Srilad

Abstract:

This paper presents design and implements a voltage source inverter type space vector pulse width modulation (SVPWM) for control a speed of induction motor. This scheme leads to be able to adjust the speed of the motor by control the frequency and amplitude of the stator voltage, the ratio of stator voltage to frequency should be kept constant. The fuzzy logic controller is also introduced to the system for keeping the motor speed to be constant when the load varies. The experimental results in testing the 0.22 kW induction motor from no-load condition to rated condition show the effectiveness of the proposed control scheme.

Keywords: Fuzzy logic control, space vector pulse width modulation, induction motor.

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Authors: Asim Kumar Pal, Debabrata Nath, Sumit Chakraborty

Abstract:

This paper presents an economic game for sybil detection in a distributed computing environment. Cost parameters reflecting impacts of different sybil attacks are introduced in the sybil detection game. The optimal strategies for this game in which both sybil and non-sybil identities are expected to participate are devised. A cost sharing economic mechanism called Discriminatory Rewarding Mechanism for Sybil Detection is proposed based on this game. A detective accepts a security deposit from each active agent, negotiates with the agents and offers rewards to the sybils if the latter disclose their identity. The basic objective of the detective is to determine the optimum reward amount for each sybil which will encourage the maximum possible number of sybils to reveal themselves. Maintaining privacy is an important issue for the mechanism since the participants involved in the negotiation are generally reluctant to share their private information. The mechanism has been applied to Tor by introducing a reputation scoring function.

Keywords: Game theory, Incentive mechanism, Reputation, Sybil Attack

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Authors: Ju-Hong Lee, Yi-Lin Shieh

Abstract:

This paper deals with the optimal design of two-channel recursive parallelogram quadrature mirror filter (PQMF) banks. The analysis and synthesis filters of the PQMF bank are composed of two-dimensional (2-D) recursive digital all-pass filters (DAFs) with nonsymmetric half-plane (NSHP) support region. The design problem can be facilitated by using the 2-D doubly complementary half-band (DC-HB) property possessed by the analysis and synthesis filters. For finding the coefficients of the 2-D recursive NSHP DAFs, we appropriately formulate the design problem to result in an optimization problem that can be solved by using a weighted least-squares (WLS) algorithm in the minimax (L_∞) optimal sense. The designed 2-D recursive PQMF bank achieves perfect magnitude response and possesses satisfactory phase response without requiring extra phase equalizer. Simulation results are also provided for illustration and comparison.

Keywords: Parallelogram Quadrature Mirror Filter Bank, Doubly Complementary Filter, Nonsymmetric Half-Plane Filter, Weighted Least Squares Algorithm, Digital All-Pass Filter.

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Authors: Nelson K. Lujara

Abstract:

The performance characteristics of a photovoltaic induction motor drive water pumping system with and without maximum power tracker is analyzed and presented. The analysis is done through determination and assessment of critical loss components in the system using computer aided design (CAD) tools for optimal operation of the system. The results can be used to formulate a well-calibrated computer aided design package of photovoltaic water pumping systems based on the induction motor drive. The results allow the design engineer to pre-determine the flow rate and efficiency of the system to suit particular application.

Keywords: Photovoltaic, water pumping, losses, induction motor.

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Authors: Gholam Reza Koochaki

Abstract:

This work presents the highly accurate numerical calculation of the natural frequencies for functionally graded beams with simply supported boundary conditions. The Timoshenko first order shear deformation beam theory and the higher order shear deformation beam theory of Reddy have been applied to the functionally graded beams analysis. The material property gradient is assumed to be in the thickness direction. The Hamilton-s principle is utilized to obtain the dynamic equations of functionally graded beams. The influences of the volume fraction index and thickness-to-length ratio on the fundamental frequencies are discussed. Comparison of the numerical results for the homogeneous beam with Euler-Bernoulli beam theory results show that the derived model is satisfactory.

Keywords: Functionally graded beam, Free vibration, Hamilton's principle.

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Authors: J. Levendovszky, I. Koncz, P. Boros

Abstract:

The paper is concerned with developing stochastic delay mechanisms for efficient multicast protocols and for smooth mobile handover processes which are capable of preserving a given Quality of Service (QoS). In both applications the participating entities (receiver nodes or subscribers) sample a stochastic timer and generate load after a random delay. In this way, the load on the networking resources is evenly distributed which helps to maintain QoS communication. The optimal timer distributions have been sought in different p.d.f. families (e.g. exponential, power law and radial basis function) and the optimal parameter have been found in a recursive manner. Detailed simulations have demonstrated the improvement in performance both in the case of multicast and mobile handover applications.

Keywords: Multicast communication, stochactic delay mechanisms.

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